CN201035807Y - Heartbeat sphygmus simulator of anthropomorphic robot - Google Patents

Abstract

The utility model belongs to the humanoid robot part field, in particular relates to a humanoid robot heartbeat pulse simulator. The utility model comprises a heartbeat voice chip, a louder speaker and a pulse vibrator; wherein, the heartbeat voice chip transmits the inputted voice frequency signal to the louder speaker; the pulse signal output terminal of the heartbeat voice chip is connected with the input terminal of the pulse vibrator; the pulse vibrator of the utility model adopts a vibrator driven by a vibrating motor; and the heartbeat voice chip described in the utility model adopts an ISD1110/ISD1420 series chip. The utility model has rational structure, good sound reproduction effect, simple operation and low cost, a multi-level direct simulation storage technology is adopted, each sampling is directly stored in the single EEPROM unit inside the chip, therefore, the utility model can vividly and naturally reproduce the effects of voice, music and tone, and the quantization noise and metallic sound of a general solid recording circuit caused by quantization and compression are avoided.

Description

Anthropomorphic robot's pulse beat simulator

Technical field

The utility model belongs to anthropomorphic robot's field of components, relates in particular to a kind of anthropomorphic robot's pulse beat simulator.

Background technology

At present, make the field the anthropomorphic robot, the design of associated components, its hommization degree also is not very high, does not also have rational in infrastructurely for the analog component of pulse beat aspect, tonequality is reproduced effective, with low cost analog component.General solid recording circuit is because of quantizing and also frequent quantizing noise and " metallic sound " of producing of compression.

The utility model content

The utility model is intended to overcome the deficiencies in the prior art part and provides a kind of rational in infrastructure, and is simple to operate, with low cost, can be truly, anthropomorphic robot's pulse beat simulator of realize voice, music, each effect of tone more naturally.

For achieving the above object, the utility model is achieved in that anthropomorphic robot's pulse beat simulator, comprises heartbeat sound chip, loudspeaker, pulse electromagnetic shaker; Described heartbeat sound chip is delivered to loudspeaker with the sound signal of input; The pulse signal output terminal of described heartbeat sound chip and the input end of pulse electromagnetic shaker join.

The pulse electromagnetic shaker can adopt the various vibration pattern, and as a kind of preferred version, pulse electromagnetic shaker described in the utility model can be the electromagnetic shaker that is driven by vibration motor.

As another kind of preferred version, heartbeat sound chip described in the utility model can adopt the ISD1110/ISD1420 chip.

The utility model is rational in infrastructure, and tonequality is reproduced effective, simple to operate, with low cost.The utility model chip adopts many level direct modeling amount memory technology, each sampling directly is stored in the interior single EEPROM unit of sheet, therefore can be very truly, realize voice, music, each effect of tone more naturally, avoided general solid recording circuit because of the quantizing noise and " metallic sound " that quantize and compression causes.Sample frequency only has minimal effect from 5.3,6.4 to 8.0KHz to tonequality.The sheet internal information can be preserved 100 years (need not back-up source), and the EEPROM monolithic can be recorded 100,000 times repeatedly.

Description of drawings

The utility model is described in further detail below in conjunction with the drawings and specific embodiments.Protection domain of the present utility model will not only be confined to the statement of following content.

Fig. 1 is a schematic block circuit diagram of the present utility model;

Fig. 2 is the utility model physical circuit schematic diagram;

Fig. 3 is the utility model ISD1110/ISD1420 packaging pin figure.

Embodiment

As shown in Figure 1, 2, 3, anthropomorphic robot's pulse beat simulator comprises: heartbeat sound chip, loudspeaker, pulse electromagnetic shaker; Described heartbeat sound chip is delivered to loudspeaker with the sound signal of input; The pulse signal output terminal of described heartbeat sound chip and the input end of pulse electromagnetic shaker join.Described pulse electromagnetic shaker is the electromagnetic shaker that is driven by vibration motor, and its similar is in the vibroseis of loudspeaker.Described heartbeat sound chip adopts the ISD1110/ISD1420 family chip.

ISD1110/ISD1420 8 to the 20 seconds monolithic recording playback time of series, tonequality is good.Chip adopts the CMOS technology, includes oscillator, the preposition amplification of microphone, automatic gain control, anti-aliasing filter, smoothing filter, speaker drive and eeprom array.Minimum recording-reproducing system only needs microphone, loudspeaker, two buttons, power supply and minority resistance capacitances.Behind the recording playback EO, chip enters only 0.5uA of low-power consumption energy-saving mode, power consumption automatically.

ISD1110/ISD1420 series has unique recording control and two kinds of playback controls of edge/level triggers.Periphery circuit is the simplest during not segmentation, can be unit combination in any segmentation by minimum segment length also, and " maximum hop count " chip provides several modes of operation, has improved the dirigibility of control greatly.

Pin is described:

As shown in Figure 4, ISD1110 series /REC ,/PLAYE, A6 and A7 end inner by on move VDD to, A0～A5 inside pulled down to VSS, on draw/drop-down resistance is at 50K to 100K Ω, in addition, each pin and ISD1420 are identical.In the circuit design, the outer placing/pull down resistor of these ends can omit, but the influence of the quiescent current that requires careful consideration.

(VCCA, VCCD): the analog-and digital-circuit of chip internal uses different power buss to power supply, and guides to respectively on the outer package, can make the noise minimum like this.Analog-and digital-power end is preferably distinguished cabling, linking to each other near the feeder ear place as far as possible, and decoupling capacitor should be tried one's best near chip.

Ground wire (VSSA, VSSD): the analog-and digital-circuit of chip internal also uses different ground wires, and these two pin are preferably on the pin pad and link to each other.

Recording (/REC): low level is effective.As long as/REC step-down (die is not in electricity-saving state still just in playback), chip promptly begin recording.During the recording ,/REC must remain low./ REC uprise or internal memory record full after, recording cycle finishes, chip writes an end of message (EOM) sign (EOM) automatically, later replay operations can be sent out in time stop.Chip enters electricity-saving state automatically afterwards.

Annotate: the rising edge of/REC has 50 milliseconds of anti-quivering, and prevents that chip from entering electricity-saving state automatically.The edge trigger playback (/when PLAYE) this brought out existing negative edge, chip began playback.Playback lasts till that EOM sign or internal memory finish, and chip enters electricity-saving state automatically afterwards.After the beginning playback, can discharge/PLAYE.

The level triggers playback (/PLAYL): when this brought out existing negative edge, chip began playback.Playback continues to end and gets back to high level, run into the EOM sign, or internal memory finishes.Playback finishes the back chip and enters electricity-saving state automatically.

Annotate: in the playback process when running into the end of EOM or internal memory, if/PLAYE or/PLAYL still is in high level, though chip also enters electricity-saving state (inner oscillator and clock quit work), but since chip do not have right/PLAYE and/rising edge of PLAYL disappears and quivers, playback all can be triggered in the following grand edge (shake when for example discharging button) that occurs on these two pins subsequently.

The recording indication (/RECLED): when being in recording state, this end is low, but driving LED.In addition, when playback runs into the EOM sign, this end output low level pulse.

Microphone input (MIC): this end limit prime amplifier to the sheet.Automatic gain control circuit (AGC) is controlled at preamplifier gain-15 to 24dB in the sheet.External microphone should be coupled to this end by series capacitance.The 10K Ω input impedance of coupling capacitance and this end has determined the low frequency cut-off points of chip frequency band.

Microphone reference (MIC REF): this end is the reverse input of prime amplifier.When connecting microphone with difference form, can reduce noise, improve common-mode rejection ratio.

Automatic gain control (AGC): the whole preposition border of AGC dynamic regulator benefit changes with the wide cut of compensation microphone incoming level, makes that distortion can both keep minimum when recording the volume that alters a great deal (from the confused noise of the whispering sound of clamoring).Response time is depended on the time constant of the 5K Ω input impedance of this end and external ground capacitance (being the C6 among Fig. 2).Depend on the ground capacitance in parallel that this end is external and the time constant of resistance (being R5 and C6 among Fig. 2) release time.The nominal value of 470K Ω and 4.7uF can obtain satisfied effect under absolute most of occasions.

Simulation output (ANA OUT): prime amplifier output.The level of AGC end is depended in the forward voltage gain.

Analog input (ANA IN): this end is the input signal of chip recording.The microphone input, ANA OUT end should be connected to local terminal by external capacitor.The 3K Ω input impedance of this electric capacity and local terminal has provided the additional low-end cut-off frequency of chip frequency band.Other source of sound can directly be connected to local terminal by AC coupling.

Loudspeaker output (SP+, SP-): this can drive loudspeaker more than 16 Ω to output terminal.Must be during single-ended use at output terminal and loudspeaker indirect coupling electric capacity, and both-end output neither can improve power 4 times with electric capacity.During recording, they all are high-impedance state; Under the energy-saving mode, they remain low level.

External clock (XCLK): there is drop down element this end inside, and the time spent is not answered ground connection.The sampling clock of chip internal is adjustment before dispatching from the factory, and has guaranteed the minimum record length of nominal.The business level chip is in each voltage range of whole temperature, and frequency change and guarantees the minimum recording playback time in+2.25%, so the value of the recording playback time ratio nominal of some chip is big slightly.The technical grade chip is in whole temperature and voltage range, and frequency change is in+5%, and stabilized voltage supply is used in suggestion.If require more high precision or system synchronization, can import external clock from local terminal.Owing to inner anti-ly obscure and smoothing filter is set, help to state and hold the clock frequency of recommending and should not change.The independent of duty cycle of input clock is critical, because frequency division has at first been carried out in inside.

The address (A0～A7): the address end has two effects, depends on the state of the highest (MSB) two A7, A6.When A7 or A6 had one to be 0, all inputs all were released to address bit, as the start address of current recording playback operation.The address end is only with input, the home address information of not output function process.The address /PLAYE ,/PLAYL or/negative edge of REC latchs.

Operator scheme:

ISD1110/ISD1420 series is built-in as if the dry run pattern, and available minimum peripheral components is realized maximum functions.Operator scheme is also controlled by the address end; When A7 and A6 were 1, other address end was put the higher position and is selected certain (or certain is several) pattern.Because operator scheme and directly address are mutually exclusive.Operator scheme can also can be realized by hardware by microcontroller.Use operator scheme that 2 attentions are arranged: (1) all operations all is that promptly the initiating terminal of storage space begins from 0 address at first.Subsequent operation can be from other address according to selected pattern.In addition, in the A4 pattern, address counter is reset to 0 when putting when circuit is transferred to by record, transfers record to and does not then reset by putting.(2) when control signal (/PLAYL ,/PLAYE or/REC) step-down, when A6 and A7 are high simultaneously, implement either operational mode.This operator scheme continuously effective, unless control signal once more by high step-down, chip latchs current address/pattern end level again, carries out corresponding operating then.

Table 1～2 operator scheme abridged tables

Pattern	Function	The typical case uses	The pattern of use capable of being combined
				A0	Information retrieval	F.F. information	A4
A1	Deletion EOM	Want the end of the last item information to place EOM	A3、A4
				A3	Circulation	From 0 address cycle playback	A1
A4	Addressing continuously	The multistage information that recording playback is continuous	A0、A1

A0 (information retrieval)---skip information fast and needn't know the address that it is definite.Low pulse of the every input of control end, the internal address counting device just jumps to next bar information.This pattern only is used for playback, and common and A4 uses simultaneously.

A1 (EOM deletion)---make segment information become an information, only stay an EOM sign at last in information.After this pattern was finished, all information of typing were just as a continuous information.

A3 (message loop)---circulation is reset and is positioned at that information of storage space section start.Article one, information can take storage space fully, and circulation is just from first to last carried out so.Give/PLAYE sends out circulation beginning after the low pulse, give/PLAYL sends out loop ends after the low pulse.

A4 (addressing continuously)---in the normal running, reset when running into the WOM sign, address counter can reset.A4 pattern disable address counter reset makes information typing or playback continuously.When chip neither recording again during non-playback, can make address counter be reset to 0 of short duration the dragging down of A4.

A2, A5---the end is used.

ISD1110-series only can realize circulation A3 being connect the higher position, operates the same.The another kind of method of Control Circulation is that only usefulness/PLAYL holds; Connect the low circulation that begins, uprise loop ends.

There is pull-up resistor three button pin of ISD1110 series and A7 and A6 inside, and A5～A0 has pull down resistor, therefore do not need R6, R7 and R8, and address wire also needn't ground connection during not segmentation.Button and A7, A6 ground connection can produce 100 microamperes of electric currents.

Claims (3)

1. anthropomorphic robot's pulse beat simulator is characterized in that, comprising: heartbeat sound chip, loudspeaker, pulse electromagnetic shaker; Described heartbeat sound chip is delivered to loudspeaker with the sound signal of input; The pulse signal output terminal of described heartbeat sound chip and the input end of pulse electromagnetic shaker join.

2. anthropomorphic robot's pulse beat simulator according to claim 1 is characterized in that: the electromagnetic shaker of described pulse electromagnetic shaker for being driven by vibration motor.

3. anthropomorphic robot's pulse beat simulator according to claim 1 and 2 is characterized in that: described heartbeat sound chip adopts the ISD1110/ISD1420 chip.

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